The Queen attended the service, along with the Prince of Wales and Duchess of Cornwall, Prince Harry, and the Queen's granddaughter Zara Phillips with her husband Mike Tindall, whom she married earlier this year.

BBC: Queen speaks of hope in 2011 Christmas Day message

The BBC's Jenny Hill said the Queen, Duke of Edinburgh, Prince of Wales, Prince Harry, Princess Beatrice and Princess Eugenie had all been seen out and about at Sandringham on Saturday morning before going to church.

BBC: Royals celebrate Christmas at Sandringham

Later, the Prince of Wales and Duchess of Cornwall, The Duke and Duchess of Cambridge and Prince Harry will join the queen and Prince Philip for a Diamond Jubilee lunch provided at Westminster Hall.

CNN: What's on during Diamond Jubilee weekend

It will carry other royals who have not been named yet, but are likely to be the Prince of Wales and the Duchess of Cornwall, and the Duke and Duchess of Cambridge and Prince Harry.

BBC: Organisers unveil 1,000-boat Diamond Jubilee flotilla